\begin{minted}[]{c++}
#include "localizer.h"

int main() {
  Localizer localizer(LocalizerParams());
  // Add relative and absolute pose measurements at successive
  // timestamps
  for (int i = 0; i < 10; ++i) {
    localizer.AddRelativePoseMeasurement(
      RandomPoseMeasurement(i));
    localizer.AddAbsolutePoseMeasurement(
      RandomPoseMeasurement(i));
  }

  localizer.Update();

  // Access optimized timestamped nodes
  const auto& timestamped_nodes = localizer.timestamped_nodes();
  // Access optimized GTSAM values
  const auto& values = localizer.values();
  // Access GTSAM factors
  const auto& factors = localizer.factors();
  // Compute covariance for a node at timestamp 1
  const auto keys = timestamped_nodes.Keys(1);
  const auto covariance = localizer.Covariance(keys[0]);
}
\end{minted}